CN106132345B - 用于保持工具姿态的系统和方法 - Google Patents

用于保持工具姿态的系统和方法 Download PDF

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Publication number
CN106132345B
CN106132345B CN201580014636.4A CN201580014636A CN106132345B CN 106132345 B CN106132345 B CN 106132345B CN 201580014636 A CN201580014636 A CN 201580014636A CN 106132345 B CN106132345 B CN 106132345B
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China
Prior art keywords
tool
joints
coordinate frame
joint
movement
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Chinese (zh)
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CN106132345A (zh
Inventor
B·D·伊特科维兹
N·斯瓦鲁普
P·G·格里菲思
G·林奇
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Intuitive Surgical Operations Inc
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Intuitive Surgical Operations Inc
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00149—Holding or positioning arrangements using articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2059—Mechanical position encoders
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Medical Informatics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Automation & Control Theory (AREA)
  • Optics & Photonics (AREA)
  • Biophysics (AREA)
  • Mathematical Physics (AREA)
  • Manipulator (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Endoscopes (AREA)
CN201580014636.4A 2014-03-17 2015-03-17 用于保持工具姿态的系统和方法 Active CN106132345B (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910479431.3A CN110192919B (zh) 2014-03-17 2015-03-17 用于保持工具姿态的系统和方法

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201461954261P 2014-03-17 2014-03-17
US61/954,261 2014-03-17
US201462024887P 2014-07-15 2014-07-15
US62/024,887 2014-07-15
PCT/US2015/021089 WO2015142943A1 (en) 2014-03-17 2015-03-17 System and method for maintaining a tool pose

Related Child Applications (1)

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CN201910479431.3A Division CN110192919B (zh) 2014-03-17 2015-03-17 用于保持工具姿态的系统和方法

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CN106132345A CN106132345A (zh) 2016-11-16
CN106132345B true CN106132345B (zh) 2019-05-31

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CN201580014636.4A Active CN106132345B (zh) 2014-03-17 2015-03-17 用于保持工具姿态的系统和方法
CN201910500430.2A Active CN110251233B (zh) 2014-03-17 2015-03-17 用于与基准靶对准的系统和方法
CN201580014405.3A Active CN106102645B (zh) 2014-03-17 2015-03-17 用于与基准靶对准的系统和方法
CN201910479431.3A Active CN110192919B (zh) 2014-03-17 2015-03-17 用于保持工具姿态的系统和方法

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CN201910500430.2A Active CN110251233B (zh) 2014-03-17 2015-03-17 用于与基准靶对准的系统和方法
CN201580014405.3A Active CN106102645B (zh) 2014-03-17 2015-03-17 用于与基准靶对准的系统和方法
CN201910479431.3A Active CN110192919B (zh) 2014-03-17 2015-03-17 用于保持工具姿态的系统和方法

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US (9) US10064689B2 (enExample)
EP (3) EP3119342B1 (enExample)
JP (5) JP6660302B2 (enExample)
KR (6) KR102541266B1 (enExample)
CN (4) CN106132345B (enExample)
WO (2) WO2015142947A1 (enExample)

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